public void AssertInManualMode(Action action)
{
if (Machine.Mode != OperatingMode.Manual)
{
Machine.AddStatusMessage(StatusMessageTypes.Warning, "Machine Busy");
}
else
{
action();
}
}
public void Refresh()
{
Points.Clear();
RawBoardOutline.Clear();
RaisePropertyChanged(nameof(Points));
RaisePropertyChanged(nameof(RawBoardOutline));
var min = Min;
var max = Max;
var gridSize = GridSize;
if (min.X == max.X)
{
_machine.AddStatusMessage(StatusMessageTypes.Warning, $"Min X must not equal Max X, both are {min.X}");
_logger.Log(LogLevel.Warning, "HeightMap_Refresh", $"Min X must not equal Max X, both are {min.X}");
return;
}
if (min.Y == max.Y)
{
_machine.AddStatusMessage(StatusMessageTypes.Warning, $"Min Y must not equal Max Y, both are {min.Y}");
_logger.Log(LogLevel.Warning, "HeightMap_Refresh", $"Min Y must not equal Max Y, both are {min.Y}");
return;
}
if (min.X > max.X)
{
_machine.AddStatusMessage(StatusMessageTypes.Warning, $"Min X [{min.X}] must be greater than Max X [{max.X}]");
_logger.Log(LogLevel.Warning, "HeightMap_Refresh", $"Min X [{min.X}] must be greater than Max X [{max.X}]");
return;
}
if (min.Y > max.Y)
{
_machine.AddStatusMessage(StatusMessageTypes.Warning, $"Min Y [{min.Y}] must be greater than Max Y [{max.Y}]");
_logger.Log(LogLevel.Warning, "HeightMap_Refresh", $"Min Y [{min.Y}] must be greater than Max Y [{max.Y}]");
return;
}
if (gridSize == 0)
{
_machine.AddStatusMessage(StatusMessageTypes.Warning, $"Grid Size must not equal to 0.");
_logger.Log(LogLevel.Warning, "HeightMap_Refresh", $"Grid Size must not be equal to 0.");
return;
}
var pointsX = (int)Math.Ceiling((max.X - min.X) / gridSize) + 1;
var pointsY = (int)Math.Ceiling((max.Y - min.Y) / gridSize) + 1;
if (pointsX == 0 || pointsY == 0)
{
_machine.AddStatusMessage(StatusMessageTypes.Warning, $"Grid Size too large for board size.");
_logger.Log(LogLevel.Warning, "HeightMap_Refresh", $"Grid Size too large for board size..");
return;
}
SizeX = pointsX;
SizeY = pointsY;
for (var x = 0; x < SizeX; x++)
{
for (var y = 0; y < SizeY; y++)
{
var xPosition = (x * (Max.X - Min.X)) / (SizeX - 1) + Min.X;
var yPosition = (y * (Max.Y - Min.Y)) / (SizeY - 1) + Min.Y;
Points.Add(new HeightMapProbePoint()
{
XIndex = x, YIndex = y, Point = new Vector3(xPosition, yPosition, 0), Status = HeightMapProbePointStatus.NotProbed
});
}
}
RawBoardOutline.Add(Line3D.Create(Min.X, Min.Y, 0, Min.X, Max.Y, 0));
RawBoardOutline.Add(Line3D.Create(Min.X, Max.Y, 0, Max.X, Max.Y, 0));
RawBoardOutline.Add(Line3D.Create(Max.X, Max.Y, 0, Max.X, Min.Y, 0));
RawBoardOutline.Add(Line3D.Create(Max.X, Min.Y, 0, Min.X, Min.Y, 0));
RaisePropertyChanged(nameof(RawBoardOutline));
RaisePropertyChanged(nameof(Points));
RaisePropertyChanged(nameof(Min));
RaisePropertyChanged(nameof(Max));
Initialized = true;
}
public void Timer_Tick(object state)
{
switch (_state)
{
case BoardAlignmentManagerStates.StabilzingAfterFirstFiducialMove:
case BoardAlignmentManagerStates.StabilzingAfterSecondFiducialMove:
case BoardAlignmentManagerStates.EvaluatingInitialAlignment:
/*
* This is after the move has stabilzed and we are looking for circle with
* an in tolerance center point. If this times out there could be too
* much noise coming from the vision center OR it's not locating the fiducial
*/
if ((DateTime.Now - _lastEvent).TotalSeconds > 5)
{
_timer.Change(Timeout.Infinite, Timeout.Infinite);
_machine.AddStatusMessage(StatusMessageTypes.FatalError, "TimeedOut - Board Alignment: " + State.ToString());
State = BoardAlignmentManagerStates.TimedOut;
_machine.SetMode(OperatingMode.Manual);
_targetLocation = null;
}
break;
case BoardAlignmentManagerStates.CenteringSecondFiducial:
case BoardAlignmentManagerStates.CenteringFirstFiducial:
if ((DateTime.Now - _lastEvent).TotalSeconds > 5)
{
_timer.Change(Timeout.Infinite, Timeout.Infinite);
_machine.AddStatusMessage(StatusMessageTypes.FatalError, "TimeedOut - Board Alignment: " + State.ToString());
State = BoardAlignmentManagerStates.TimedOut;
_machine.SetMode(OperatingMode.Manual);
_targetLocation = null;
}
break;
case BoardAlignmentManagerStates.MovingToSecondFiducial:
if ((DateTime.Now - _lastEvent).TotalSeconds > 5)
{
_timer.Change(Timeout.Infinite, Timeout.Infinite);
_machine.AddStatusMessage(StatusMessageTypes.FatalError, "TimeedOut - Board Alignment: " + State.ToString());
State = BoardAlignmentManagerStates.TimedOut;
_machine.SetMode(OperatingMode.Manual);
_targetLocation = null;
}
break;
}
}
